For your Android device:
1. On your computer, go to calendar.google.com (IMPORTANT: you MUST be logged in to the same Google account that you use on your Android device)
2. In the left-side column, click the down arrow to the right of “Other Calendars”
3. Select “Add by URL”
4. Copy and paste this link
5. Click “Add Calendar”
6. You may have to reboot your Android device or wait until it resyncs before it appears on that device

For those that use calendar.google.com on their computer: Follow the Android instructions above, skipping step 6.